Note 14 - Stock Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands |
12 Months Ended | |
|---|---|---|
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Stock-based compensation expense | $ 4,609 | $ 4,424 |
| Cost of Sales [Member] | ||
| Stock-based compensation expense | 92 | 123 |
| Research and Development Expense [Member] | ||
| Stock-based compensation expense | 813 | 764 |
| Selling, General and Administrative Expenses [Member] | ||
| Stock-based compensation expense | $ 3,704 | $ 3,537 |